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<div class="title">global_optimization_tdm.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef NURBS_OPTIMIZATION_TDM_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define NURBS_OPTIMIZATION_TDM_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/global_optimization_pdm.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;{</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">namespace </span>on_nurbs</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  {</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html">   53</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html">GlobalOptimizationTDM</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization.html">GlobalOptimization</a></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structpcl_1_1on__nurbs_1_1_global_optimization_t_d_m_1_1_parameter_t_d_m.html">   58</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_t_d_m_1_1_parameter_t_d_m.html">ParameterTDM</a> : <span class="keyword">public</span> <a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter.html">GlobalOptimization::Parameter</a></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;        <span class="keywordtype">double</span> interior_tangent_weight;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keywordtype">double</span> boundary_tangent_weight;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keywordtype">double</span> closing_tangent_weight;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_t_d_m_1_1_parameter_t_d_m.html">ParameterTDM</a> (<span class="keywordtype">double</span> intW = 1.0, <span class="keywordtype">double</span> intS = 1e-6, <span class="keywordtype">double</span> intTW = 0.01, <span class="keywordtype">double</span> bndW = 0.0,</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                      <span class="keywordtype">double</span> bndS = 1e-6, <span class="keywordtype">double</span> bndTW = 0.01, <span class="keywordtype">double</span> cloW = 0.0, <span class="keywordtype">double</span> cloSi = 0.0,</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                      <span class="keywordtype">unsigned</span> cloSa = 0, <span class="keywordtype">double</span> cloTW = 0.0, <span class="keywordtype">double</span> comW = 0.0) :</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;          <a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter.html">Parameter</a> (intW, intS, bndW, bndS, cloW, cloSi, cloSa, comW), interior_tangent_weight (intTW),</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;              boundary_tangent_weight (bndTW), closing_tangent_weight (cloTW)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        {</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        }</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_t_d_m_1_1_parameter_t_d_m.html">ParameterTDM</a> (<a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter.html">GlobalOptimization::Parameter</a> params, <span class="keywordtype">double</span> intTW = 0.01, <span class="keywordtype">double</span> bndTW = 0.0, <span class="keywordtype">double</span> cloTW = 0.0) :</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          <a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter.html">Parameter</a> (params), interior_tangent_weight (intTW), boundary_tangent_weight (bndTW),</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;              closing_tangent_weight (cloTW)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        }</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      };</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a905aba056538f2d4ee3d11e7be2d6157">   83</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a905aba056538f2d4ee3d11e7be2d6157">GlobalOptimizationTDM</a> (<span class="keyword">const</span> std::vector&lt;NurbsDataSurface*&gt; &amp;data, <span class="keyword">const</span> std::vector&lt;ON_NurbsSurface*&gt; &amp;nurbs);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a55dbaaefde890a1a65b6b40b3a78fc88">   89</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a55dbaaefde890a1a65b6b40b3a78fc88">assemble</a> (<a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter.html">Parameter</a> params);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a51039dd6347c13b5e843c93aed057d91">   95</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a51039dd6347c13b5e843c93aed057d91">assemble</a> (<a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_t_d_m_1_1_parameter_t_d_m.html">ParameterTDM</a> params = <a class="code" href="structpcl_1_1on__nurbs_1_1_global_optimization_t_d_m_1_1_parameter_t_d_m.html">ParameterTDM</a> ());</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#acbcbc9de4f3bdff0658ec8b2ef8ee3af">  100</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#acbcbc9de4f3bdff0658ec8b2ef8ee3af">solve</a> (<span class="keywordtype">double</span> damp = 1.0);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#ad4b3661db8aca67495d5617418c14517">  105</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#ad4b3661db8aca67495d5617418c14517">updateSurf</a> (<span class="keywordtype">double</span> damp);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      assembleCommonParams (<span class="keywordtype">unsigned</span> id1, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#af166e4cd0fdbae37e6a22937e3f6535f">  114</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#af166e4cd0fdbae37e6a22937e3f6535f">assembleCommonBoundaries</a> (<span class="keywordtype">unsigned</span> id1, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#ac55ca94e04181bdd72034d8097572cc4">  119</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#ac55ca94e04181bdd72034d8097572cc4">assembleCommonBoundariesTD</a> (<span class="keywordtype">unsigned</span> id1, <span class="keywordtype">double</span> wTangent, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a6d0002fa3f840e8d6c84adb1fcce2e04">  124</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a6d0002fa3f840e8d6c84adb1fcce2e04">assembleClosingBoundaries</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">unsigned</span> samples, <span class="keywordtype">double</span> sigma, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a43a444d5ebbbe961184e1a26fbf51855">  129</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a43a444d5ebbbe961184e1a26fbf51855">assembleClosingBoundariesTD</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">unsigned</span> samples, <span class="keywordtype">double</span> sigma, <span class="keywordtype">double</span> wTangent, <span class="keywordtype">double</span> weight,</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                                   <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a16823793d87d7acfe8760b1033b12146">  134</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a16823793d87d7acfe8760b1033b12146">assembleInteriorPoints</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#afd937d4f6d298ad763ceadefe16d04d4">  138</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#afd937d4f6d298ad763ceadefe16d04d4">assembleInteriorPointsTD</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> wTangent, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a3e22d932d4b1fbdd3032cf60d0e8ce18">  142</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a3e22d932d4b1fbdd3032cf60d0e8ce18">assembleBoundaryPoints</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a778413acad93a00930d2fe3ea1044130">  146</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a778413acad93a00930d2fe3ea1044130">assembleRegularisation</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> wCageRegInt, <span class="keywordtype">double</span> wCageRegBnd, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a7063629faacbba1a6fe5a697b2de2653">  150</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a7063629faacbba1a6fe5a697b2de2653">addParamConstraint</a> (<span class="keyword">const</span> Eigen::Vector2i &amp;<span class="keywordtype">id</span>, <span class="keyword">const</span> Eigen::Vector2d &amp;params1, <span class="keyword">const</span> Eigen::Vector2d &amp;params2,</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                          <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#adc9d1c245a73551e712534e74e54d297">  156</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#adc9d1c245a73551e712534e74e54d297">addParamConstraintTD</a> (<span class="keyword">const</span> Eigen::Vector2i &amp;<span class="keywordtype">id</span>, <span class="keyword">const</span> Eigen::Vector2d &amp;params1, <span class="keyword">const</span> Eigen::Vector2d &amp;params2,</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                            <span class="keyword">const</span> Eigen::Vector3d &amp;n, <span class="keyword">const</span> Eigen::Vector3d &amp;tu, <span class="keyword">const</span> Eigen::Vector3d &amp;tv,</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                            <span class="keywordtype">double</span> tangent_weight, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a5e7228f3638b2a378aef7ce2f1e15ed5">  162</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a5e7228f3638b2a378aef7ce2f1e15ed5">addPointConstraint</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keyword">const</span> Eigen::Vector2d &amp;params, <span class="keyword">const</span> Eigen::Vector3d &amp;point,</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                          <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#ad51a03cb7f83da7ea711f28def01eaf1">  167</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#ad51a03cb7f83da7ea711f28def01eaf1">addPointConstraintTD</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keyword">const</span> Eigen::Vector2d &amp;params, <span class="keyword">const</span> Eigen::Vector3d &amp;p,</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                            <span class="keyword">const</span> Eigen::Vector3d &amp;n, <span class="keyword">const</span> Eigen::Vector3d &amp;tu, <span class="keyword">const</span> Eigen::Vector3d &amp;tv,</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                            <span class="keywordtype">double</span> tangent_weight, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a0fb0cdee70970675189942ee1b9155d4">  173</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a0fb0cdee70970675189942ee1b9155d4">addCageInteriorRegularisation</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#ab2e46756fc1d015e889180a3dfe20878">  177</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#ab2e46756fc1d015e889180a3dfe20878">addCageBoundaryRegularisation</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> weight, <span class="keywordtype">int</span> side, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a548c8a4b2d6f87fe82b4378759c54b72">  181</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a548c8a4b2d6f87fe82b4378759c54b72">addCageCornerRegularisation</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">id</span>, <span class="keywordtype">int</span> ncps, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    };</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization.html">pcl::on_nurbs::GlobalOptimization</a></div><div class="ttdoc">Fitting and optimizing multiple B-Spline surfaces to 3D point-clouds using point-distance-minimizatio...</div><div class="ttdef"><b>Definition:</b> global_optimization_pdm.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html">pcl::on_nurbs::GlobalOptimizationTDM</a></div><div class="ttdoc">Fitting and optimizing multiple B-Spline surfaces to 3D point-clouds using tangent-distance-minimizat...</div><div class="ttdef"><b>Definition:</b> global_optimization_tdm.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_a0fb0cdee70970675189942ee1b9155d4"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a0fb0cdee70970675189942ee1b9155d4">pcl::on_nurbs::GlobalOptimizationTDM::addCageInteriorRegularisation</a></div><div class="ttdeci">virtual void addCageInteriorRegularisation(unsigned id, int ncps, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: interior smoothness by control point regularisation.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_a16823793d87d7acfe8760b1033b12146"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a16823793d87d7acfe8760b1033b12146">pcl::on_nurbs::GlobalOptimizationTDM::assembleInteriorPoints</a></div><div class="ttdeci">virtual void assembleInteriorPoints(unsigned id, int ncps, double weight, unsigned &amp;row)</div><div class="ttdoc">Assemble point-to-surface constraints for interior points.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_a3e22d932d4b1fbdd3032cf60d0e8ce18"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a3e22d932d4b1fbdd3032cf60d0e8ce18">pcl::on_nurbs::GlobalOptimizationTDM::assembleBoundaryPoints</a></div><div class="ttdeci">virtual void assembleBoundaryPoints(unsigned id, int ncps, double weight, unsigned &amp;row)</div><div class="ttdoc">Assemble point-to-surface constraints for boundary points.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_a43a444d5ebbbe961184e1a26fbf51855"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a43a444d5ebbbe961184e1a26fbf51855">pcl::on_nurbs::GlobalOptimizationTDM::assembleClosingBoundariesTD</a></div><div class="ttdeci">void assembleClosingBoundariesTD(unsigned id, unsigned samples, double sigma, double wTangent, double weight, unsigned &amp;row)</div><div class="ttdoc">Assemble closing-constraint of boundaries by sampling from nurbs boundary and find closest point on c...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_a51039dd6347c13b5e843c93aed057d91"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a51039dd6347c13b5e843c93aed057d91">pcl::on_nurbs::GlobalOptimizationTDM::assemble</a></div><div class="ttdeci">void assemble(ParameterTDM params=ParameterTDM())</div><div class="ttdoc">Assemble the system of equations for fitting</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_a548c8a4b2d6f87fe82b4378759c54b72"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a548c8a4b2d6f87fe82b4378759c54b72">pcl::on_nurbs::GlobalOptimizationTDM::addCageCornerRegularisation</a></div><div class="ttdeci">virtual void addCageCornerRegularisation(unsigned id, int ncps, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: corner smoothness by control point regularisation.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_a55dbaaefde890a1a65b6b40b3a78fc88"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a55dbaaefde890a1a65b6b40b3a78fc88">pcl::on_nurbs::GlobalOptimizationTDM::assemble</a></div><div class="ttdeci">virtual void assemble(Parameter params)</div><div class="ttdoc">Assemble the system of equations for fitting</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_a5e7228f3638b2a378aef7ce2f1e15ed5"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a5e7228f3638b2a378aef7ce2f1e15ed5">pcl::on_nurbs::GlobalOptimizationTDM::addPointConstraint</a></div><div class="ttdeci">virtual void addPointConstraint(unsigned id, int ncps, const Eigen::Vector2d &amp;params, const Eigen::Vector3d &amp;point, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: point-to-surface distance (point-distance-minimization).</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_a6d0002fa3f840e8d6c84adb1fcce2e04"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a6d0002fa3f840e8d6c84adb1fcce2e04">pcl::on_nurbs::GlobalOptimizationTDM::assembleClosingBoundaries</a></div><div class="ttdeci">virtual void assembleClosingBoundaries(unsigned id, unsigned samples, double sigma, double weight, unsigned &amp;row)</div><div class="ttdoc">Assemble closing-constraint of boundaries by sampling from nurbs boundary and find closest point on c...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_a7063629faacbba1a6fe5a697b2de2653"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a7063629faacbba1a6fe5a697b2de2653">pcl::on_nurbs::GlobalOptimizationTDM::addParamConstraint</a></div><div class="ttdeci">virtual void addParamConstraint(const Eigen::Vector2i &amp;id, const Eigen::Vector2d &amp;params1, const Eigen::Vector2d &amp;params2, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: two points in parametric domain of two surfaces should lie on each other...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_a778413acad93a00930d2fe3ea1044130"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a778413acad93a00930d2fe3ea1044130">pcl::on_nurbs::GlobalOptimizationTDM::assembleRegularisation</a></div><div class="ttdeci">virtual void assembleRegularisation(unsigned id, int ncps, double wCageRegInt, double wCageRegBnd, unsigned &amp;row)</div><div class="ttdoc">Assemble smoothness constraints.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_a905aba056538f2d4ee3d11e7be2d6157"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#a905aba056538f2d4ee3d11e7be2d6157">pcl::on_nurbs::GlobalOptimizationTDM::GlobalOptimizationTDM</a></div><div class="ttdeci">GlobalOptimizationTDM(const std::vector&lt; NurbsDataSurface * &gt; &amp;data, const std::vector&lt; ON_NurbsSurface * &gt; &amp;nurbs)</div><div class="ttdoc">Constructor with a set of data and a set of B-Spline surfaces.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_ab2e46756fc1d015e889180a3dfe20878"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#ab2e46756fc1d015e889180a3dfe20878">pcl::on_nurbs::GlobalOptimizationTDM::addCageBoundaryRegularisation</a></div><div class="ttdeci">virtual void addCageBoundaryRegularisation(unsigned id, int ncps, double weight, int side, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: boundary smoothness by control point regularisation.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_ac55ca94e04181bdd72034d8097572cc4"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#ac55ca94e04181bdd72034d8097572cc4">pcl::on_nurbs::GlobalOptimizationTDM::assembleCommonBoundariesTD</a></div><div class="ttdeci">void assembleCommonBoundariesTD(unsigned id1, double wTangent, double weight, unsigned &amp;row)</div><div class="ttdoc">Assemble closing-constraint of boundaries using data.boundary for getting closest points and using th...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_acbcbc9de4f3bdff0658ec8b2ef8ee3af"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#acbcbc9de4f3bdff0658ec8b2ef8ee3af">pcl::on_nurbs::GlobalOptimizationTDM::solve</a></div><div class="ttdeci">virtual void solve(double damp=1.0)</div><div class="ttdoc">Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake),...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_ad4b3661db8aca67495d5617418c14517"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#ad4b3661db8aca67495d5617418c14517">pcl::on_nurbs::GlobalOptimizationTDM::updateSurf</a></div><div class="ttdeci">virtual void updateSurf(double damp)</div><div class="ttdoc">Update surface according to the current system of equations.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_ad51a03cb7f83da7ea711f28def01eaf1"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#ad51a03cb7f83da7ea711f28def01eaf1">pcl::on_nurbs::GlobalOptimizationTDM::addPointConstraintTD</a></div><div class="ttdeci">void addPointConstraintTD(unsigned id, int ncps, const Eigen::Vector2d &amp;params, const Eigen::Vector3d &amp;p, const Eigen::Vector3d &amp;n, const Eigen::Vector3d &amp;tu, const Eigen::Vector3d &amp;tv, double tangent_weight, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: point-to-surface distance (tangent-distance-minimization).</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_adc9d1c245a73551e712534e74e54d297"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#adc9d1c245a73551e712534e74e54d297">pcl::on_nurbs::GlobalOptimizationTDM::addParamConstraintTD</a></div><div class="ttdeci">virtual void addParamConstraintTD(const Eigen::Vector2i &amp;id, const Eigen::Vector2d &amp;params1, const Eigen::Vector2d &amp;params2, const Eigen::Vector3d &amp;n, const Eigen::Vector3d &amp;tu, const Eigen::Vector3d &amp;tv, double tangent_weight, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: two points in parametric domain of two surfaces should lie on each other...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_af166e4cd0fdbae37e6a22937e3f6535f"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#af166e4cd0fdbae37e6a22937e3f6535f">pcl::on_nurbs::GlobalOptimizationTDM::assembleCommonBoundaries</a></div><div class="ttdeci">virtual void assembleCommonBoundaries(unsigned id1, double weight, unsigned &amp;row)</div><div class="ttdoc">Assemble closing-constraint of boundaries using data.boundary for getting closest points</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_global_optimization_t_d_m_html_afd937d4f6d298ad763ceadefe16d04d4"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_global_optimization_t_d_m.html#afd937d4f6d298ad763ceadefe16d04d4">pcl::on_nurbs::GlobalOptimizationTDM::assembleInteriorPointsTD</a></div><div class="ttdeci">void assembleInteriorPointsTD(unsigned id, int ncps, double wTangent, double weight, unsigned &amp;row)</div><div class="ttdoc">Assemble point-to-surface constraints for interior points using the tangent-distance (TD).</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_global_optimization_1_1_parameter.html">pcl::on_nurbs::GlobalOptimization::Parameter</a></div><div class="ttdoc">Parameters for fitting</div><div class="ttdef"><b>Definition:</b> global_optimization_pdm.h:61</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_global_optimization_t_d_m_1_1_parameter_t_d_m_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_global_optimization_t_d_m_1_1_parameter_t_d_m.html">pcl::on_nurbs::GlobalOptimizationTDM::ParameterTDM</a></div><div class="ttdoc">Parameters for fitting</div><div class="ttdef"><b>Definition:</b> global_optimization_tdm.h:59</div></div>
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